GB2554796A8 - Testing 3D imaging systems - Google Patents

Testing 3D imaging systems

Info

Publication number
GB2554796A8
GB2554796A8 GB1712417.3A GB201712417A GB2554796A8 GB 2554796 A8 GB2554796 A8 GB 2554796A8 GB 201712417 A GB201712417 A GB 201712417A GB 2554796 A8 GB2554796 A8 GB 2554796A8
Authority
GB
United Kingdom
Prior art keywords
camera
target
reading
distance
measurement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
GB1712417.3A
Other versions
GB2554796B (en
GB201712417D0 (en
GB2554796B8 (en
GB2554796A (en
Inventor
Wu Honglei
andrew lin Cheng-yi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Google LLC
Original Assignee
Google LLC
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Google LLC filed Critical Google LLC
Publication of GB201712417D0 publication Critical patent/GB201712417D0/en
Publication of GB2554796A publication Critical patent/GB2554796A/en
Publication of GB2554796B publication Critical patent/GB2554796B/en
Application granted granted Critical
Publication of GB2554796A8 publication Critical patent/GB2554796A8/en
Publication of GB2554796B8 publication Critical patent/GB2554796B8/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/246—Calibration of cameras
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • G06T7/85—Stereo camera calibration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30204—Marker

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Health & Medical Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
  • Accessories Of Cameras (AREA)

Abstract

A reading is received (502) from a three-dimensional camera, coupled to a camera mount, which includes a distance (depth) from the 3D camera to a calibration target coupled to a mount. An actual camera to target distance measurement is received (504). Measurement characteristics of the particular camera are provided from the reading and actual distance measurement (506), relating to at least one of (i) noise and uniformity, (ii) sharpness or frequency response or (iii) motion artefacts. The 3D imaging system can capture 2D images with pixel values indicating camera to target distances, wherein multiple measurements are taken to determine distance mean and variance for each pixel to provide the camera measurement characteristics. The movement of the target mount is constrained to the direction extending along the rail. A reading from the target may be received. The measurement characteristics may be scores that quantify a particular characteristic of the camera, and may relate to distance error. The characteristics may be transformations that produce a transform of a subsequent reading from the camera. The target may have a uniformly flat surface or may comprise tilted stepped targets or a rotating propeller.
GB1712417.3A 2016-08-04 2017-08-02 Testing 3D imaging systems Active GB2554796B8 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US15/228,909 US10321114B2 (en) 2016-08-04 2016-08-04 Testing 3D imaging systems

Publications (5)

Publication Number Publication Date
GB201712417D0 GB201712417D0 (en) 2017-09-13
GB2554796A GB2554796A (en) 2018-04-11
GB2554796B GB2554796B (en) 2018-09-26
GB2554796A8 true GB2554796A8 (en) 2019-09-25
GB2554796B8 GB2554796B8 (en) 2019-09-25

Family

ID=59684020

Family Applications (1)

Application Number Title Priority Date Filing Date
GB1712417.3A Active GB2554796B8 (en) 2016-08-04 2017-08-02 Testing 3D imaging systems

Country Status (5)

Country Link
US (1) US10321114B2 (en)
CN (1) CN107727364B (en)
DE (2) DE102017117143A1 (en)
GB (1) GB2554796B8 (en)
WO (1) WO2018026532A1 (en)

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WO2019157511A1 (en) * 2018-02-12 2019-08-15 Crosby Kelvin Robotic sighted guiding system
CN109060312B (en) * 2018-08-10 2020-03-17 河南科技大学 Method for testing operating distance of visible light equipment based on controllable target
EP3857517A4 (en) * 2018-09-27 2022-06-29 Snap Inc. Three dimensional scene inpainting using stereo extraction
CN111025310A (en) * 2018-10-09 2020-04-17 光宝电子(广州)有限公司 Error correction system and method thereof
JP7130544B2 (en) * 2018-12-20 2022-09-05 三星電子株式会社 3D information calculation device, 3D measurement device, 3D information calculation method, and 3D information calculation program
CN110276791B (en) * 2019-06-28 2021-04-06 北京航空航天大学 Parameter-configurable depth camera simulation method
US11353345B2 (en) * 2019-07-22 2022-06-07 Boston Dynamics, Inc. Magnetic encoder calibration
CN110456331A (en) * 2019-08-30 2019-11-15 深圳奥比中光科技有限公司 A kind of caliberating device and scaling method of TOF camera
CN111207685A (en) * 2020-01-14 2020-05-29 华中科技大学鄂州工业技术研究院 Full-automatic calibration system for structured light depth measurement
CN113069077A (en) * 2021-03-15 2021-07-06 电子科技大学 Non-contact Parkinson auxiliary diagnosis data acquisition device

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US6658136B1 (en) * 1999-12-06 2003-12-02 Microsoft Corporation System and process for locating and tracking a person or object in a scene using a series of range images
CN101040298A (en) 2004-10-13 2007-09-19 罗伯特·博世有限公司 Device for calibrating an image sensor system in a motor vehicle
CN101292255B (en) 2005-09-22 2012-05-23 3M创新有限公司 Artifact mitigation in three-dimensional imaging
DE102009009047A1 (en) 2009-02-16 2010-08-19 Daimler Ag Method for object detection
FR2945628B1 (en) * 2009-05-18 2011-06-10 Airbus France DEVICE FOR ADJUSTING THE PROPELLER BLADE SETTING ANGLE FOR A MOTOR MODEL.
US8866889B2 (en) 2010-11-03 2014-10-21 Microsoft Corporation In-home depth camera calibration
US8542348B2 (en) 2010-11-03 2013-09-24 Rockwell Automation Technologies, Inc. Color sensor insensitive to distance variations
US8401242B2 (en) 2011-01-31 2013-03-19 Microsoft Corporation Real-time camera tracking using depth maps
US8978551B2 (en) * 2012-07-25 2015-03-17 Nike, Inc. Projection assisted printer alignment using remote device
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US10228452B2 (en) * 2013-06-07 2019-03-12 Hand Held Products, Inc. Method of error correction for 3D imaging device
US20150004917A1 (en) * 2013-07-01 2015-01-01 Trw Automotive U.S. Llc Low level, low frequency signal measurement
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US10062180B2 (en) * 2014-04-22 2018-08-28 Microsoft Technology Licensing, Llc Depth sensor calibration and per-pixel correction
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Also Published As

Publication number Publication date
WO2018026532A1 (en) 2018-02-08
GB2554796B (en) 2018-09-26
DE102017117143A1 (en) 2018-02-08
GB201712417D0 (en) 2017-09-13
CN107727364A (en) 2018-02-23
DE202017104518U1 (en) 2017-11-17
GB2554796B8 (en) 2019-09-25
GB2554796A (en) 2018-04-11
CN107727364B (en) 2019-10-01
US20180041746A1 (en) 2018-02-08
US10321114B2 (en) 2019-06-11

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Free format text: REQUEST FILED; REQUEST FOR CORRECTION UNDER SECTION 117 FILED ON 11 JULY 2019

S117 Correction of errors in patents and applications (sect. 117/patents act 1977)

Free format text: CORRECTIONS ALLOWED; REQUEST FOR CORRECTION UNDER SECTION 117 FILED ON 11 JULY 2019 ALLOWED ON 19 SEPTEMBER 2019